#include "AccelStepper.h"
#include "Timer.h"
int buttonState=0;
int prevButtonState=0;
int mode=0;
int pot=0;
int prvbtnstate=0;
int sw;
int mod=0;
Timer timer;

const int RotaryCLK = 2; //CLK pin on the rotary encoder
const int RotaryDT = 1; //DT pin on the rotary encoder
const int RotarySW = 0; //SW pin on the rotary encoder (Button function)

//Defining variables
int ButtonCounter = 0;
int RotateCounter = 0;

//Statuses
int CLKNow;
int CLKPrevious;

int DTNow;
int DTPrevious;

// Time
float TimeNow1;
float TimeNow2;
float TimeNow3;

#define dirPin 3
#define stepPin 4
#define motorInterfaceType 1
AccelStepper stepper = AccelStepper(motorInterfaceType, stepPin, dirPin);

void setup() {
  // put your setup code here, to run once:
  digitalWrite(5, HIGH);
  digitalWrite(6,HIGH);
  Serial.begin(9600);
  stepper.setMaxSpeed(1000);
  pinMode(7,INPUT);
  pinMode(8, INPUT);
  pinMode(12,OUTPUT);
  pinMode(11,OUTPUT);

  CLKPrevious = digitalRead(RotaryCLK);
  DTPrevious = digitalRead(RotaryDT);
    
  attachInterrupt(digitalPinToInterrupt(RotaryCLK), rotate, CHANGE);
  attachInterrupt(digitalPinToInterrupt(RotarySW), buttonPressed, FALLING);
    TimeNow1 = millis(); //Start time

   timer.start();
     timer.stop();

}

void RunTheMotor() //function for the motor
{    
    stepper.enableOutputs(); //enable pins
    stepper.moveTo(RotateCounter); //-1 is to match the rotation of the encoder with the rotation of the stepper
    while(stepper.distanceToGo() != 0)
    {
      stepper.runToNewPosition(RotateCounter);
    }
    
}
void buttonPressed()
{  
  TimeNow2 = millis();
  if(TimeNow2 - TimeNow3 > 1000)
  {
  ButtonCounter++; //increase the counter
  }
  TimeNow3 = millis();
    //You can add something here, like resetting the RotateCounter (e.g. redefine 0 position)
}
void rotate()
{
  CLKNow = digitalRead(RotaryCLK); //Read the state of the CLK pin

  // If last and current state of CLK are different, then a pulse occurred  
  if (CLKNow != CLKPrevious  && CLKNow == 1){

    // If the DT state is different than the CLK state then
    // the encoder is rotating CCW so increase
    if (digitalRead(RotaryDT) != CLKNow) {
      RotateCounter++;
      
    } else {
      // Encoder is rotating CW so decrease
      RotateCounter--;      
    }    
  }
  CLKPrevious = CLKNow;  // Store last CLK state
}
void button(){
    buttonState=digitalRead(7);
  if(buttonState != prevButtonState){
    if(buttonState==HIGH){
      if(mode==1){
        mode=0;
        timer.stop();
        digitalWrite(12,HIGH);//red
        digitalWrite(11,LOW);
        digitalWrite(5, LOW);
        digitalWrite(6,LOW);
        }else{
          //yellow
          mode=1;
          timer.start();
          digitalWrite(5, HIGH);
          digitalWrite(6,HIGH);
          digitalWrite(11,HIGH);
          digitalWrite(12,LOW);
          }
      }
    }
    prevButtonState=buttonState;
    delay(50);
    

}
void motor(){
   stepper.setCurrentPosition(0);
           stepper.moveTo(66.6667);
          stepper.setSpeed(500);
              stepper.runSpeedToPosition();
           
           stepper.setCurrentPosition(0);

}
void loop() {
  // put your main code here, to run repeatedly:
  sw=digitalRead(8);
  Serial.println(sw);
  while(sw!=1){
      sw=digitalRead(8);

      button();
     if(mode==0){
      TimeNow2 = millis();
  if(TimeNow2 - TimeNow1 > 200)
  {
    TimeNow1 = millis();
  }
  RunTheMotor();
      }else{

         if(timer.read()>=4999){
           timer.stop();
           stepper.setCurrentPosition(0);
           stepper.moveTo(66.67);
           stepper.setSpeed(200);
           if(stepper.distanceToGo() !=0){
             while(stepper.distanceToGo()!=0)
             stepper.runSpeedToPosition();
             stepper.setCurrentPosition(0);
           }else{
             stepper.setSpeed(0);
             stepper.runSpeed();
           }
           timer.start();
           

         }
      }
  }   
  if(sw==1){
     digitalWrite(5, HIGH);
     digitalWrite(6,HIGH);
     stepper.setSpeed(-1);
     stepper.runSpeed();
    }
}